Abstract
This article presents sensor fusion techniques for ultra-wideband-based localization to achieve sufficient accuracy and robustness for the control of vehicles in an industrial environment. We propose two outlier detection methods in combination with an extended Kalman Filter, and present experimental validation where 10 cm accuracy is achieved even in difficult NLOS conditions.
Highlights
As research into indoor localization is receiving attention [1], [2], ultra-wideband (UWB) based localization has emerged as one candidate solution, with the performance and availability of commercial off the shelf hardware as well as turnkey solutions growing steadily [3], [4]
We present in this work sensor fusion techniques for the localization of vehicles in an industrial environment, based on UWB ranging data
It allows to always maximally use the available UWB information, even if not enough ranges are available to perform multilateration. It allows to perform outlier detection at the level of individual UWB ranges rather than at the level of the position computed through multilateration of all the ranges, outliers or not. We add to these arguments of [7] that working directly with ranges has the advantage that the extended Kalman Filter (EKF) will implicitly handle the geometrical dilution of precision (GDOP) resulting from the selected anchors and current vehicle position; only the ranging measurement noise is required for each anchors
Summary
As research into indoor localization is receiving attention [1], [2], ultra-wideband (UWB) based localization has emerged as one candidate solution, with the performance and availability of commercial off the shelf hardware as well as turnkey solutions growing steadily [3], [4]. Since it is infrastructure-based, setup cost is high This makes it inadequate for lower-cost applications where the target accuracy is in the order of meters, an order of magnitude worse than what can be achieved using UWB [6]. For use-cases where the higher requirements on accuracy may justify the infrastructure cost, UWB-based localization has not proven reliable enough This is especially true in industrial environments where metallic obstructions and. Those techniques are experimentally validated together with the general sensor fusion, where the setup is presented, datasets are made available [15], and performance metrics are shown and compared to previous results.
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